RU2782035C2 - Simulation model of system for control of air target based on unmanned aerial vehicle of target complex - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: simulation model of a system for control of an air target based on an unmanned aerial vehicle of a target complex contains autopilot contours for control of lateral and longitudinal movements of the air target based on UAV. The contour for control of the lateral movement of the autopilot contains a sub-contour for control of a course angle of the air target with subsequent closure with a sub-contour for control of roll of the air target and has an amplification coefficient of a differential adjuster of damping a roll speed for an inner contour. The contour for control of the longitudinal movement contains feedback sub-contours: a sub-contour for maintenance of a flight height of the air target based on UAV, using control signals, by pitch with subsequent closure with a sub-contour of the autopilot for stabilization by a pitch angle, used as an inner sub-contour, a sub-contour for maintenance of a speed of the air target based on UAV, using adjustment of pitch, a sub-contour for stabilization of the speed of the air target based on UAV, using a throttle valve, which also have units implementing corresponding amplification coefficients.

EFFECT: provision of checking of technical solutions of a system for control of an air target, using a simulation model.

1 cl, 14 dwg

Description

The invention relates to the field of weapons, namely to control systems for air targets based on unmanned aerial vehicles (hereinafter referred to as UAVs) with a fixed wing shape, and can be used in the development of air target control systems based on UAVs from a promising target complex. Aerial targets based on UAVs as part of a promising target complex are used in the verification and testing of short-range, medium-range and long-range air defense systems and complexes, including anti-aircraft and anti-aircraft missile and gun systems.

The technical result of using the invention lies in the possibility of testing the technical solutions of the air target control system using a simulation model, which makes it possible to use the results obtained in the design and field tests of the target complex.

In addition, the utility model can be used to determine the possibility of using the laws of control of a group of targets in the UAV control system when creating a complex air situation by the target complex.

It is known that the basis of the UAV-based air target control system during all phases of flight is its autopilot.

An autopilot is, as a rule, an electromechanical control device that ensures the movement of the UAV along a predetermined path [1, 2, 3]. In general, the operation of simulation models (hereinafter referred to as IM) of air target control systems based on UAVs is provided by a flight task being formed, an autopilot consisting of two main control loops (a longitudinal movement control loop and a lateral movement control loop) and the aircraft itself, built according to a specific aerodynamic design.

In the well-known patent and scientific literature, corresponding to the current level of development of technology, descriptions of control systems for unmanned aerial vehicles [4, 5] are presented, revealing only the element-by-element design of the autopilot and the proposed changes, in terms of the introduction of additional units and systems that ensure the implementation of different target settings (for example, , additional introduction of a system for automatic recognition and auto-tracking of objects of observation).

Known simulation models have a number of disadvantages, namely:

do not allow to form a flight task for an air target directly in the simulation model of the control system with the subsequent possibility of graphical display of both the required and actually practiced trajectories by an air target in accordance with a given flight task;

there is no possibility of forming a flight task of varying degrees of complexity;

there is no visualization of the behavior of the air target glider during the entire flight stage;

there is no possibility of monitoring the change in the corresponding parameters of the air target control system caused by a change in the direction of the target's flight in space;

the mathematical apparatus used to form the flight task of an aerial target, as a rule, allows the formation of mostly rectilinear sections of the trajectory of an aerial target with only a slight change in the direction of movement caused by the need to move to the next point (“way point”) in space, and therefore the aerial target is not capable of reproducing with a high degree of certainty the trajectories of the movement of individual real aircraft performing the corresponding maneuvers.

In addition, the known MIs do not allow reflecting the flight path of an air target in three-dimensional space, which plays an important role when an air target performs spatial maneuvers such as "unwinding spiral", "irregular barrel" and others.

The closest to the proposed MI are the following two models.

The first is a digital simulation model of the control system for a short-range maneuverable aircraft (hereinafter - LA) [6], the structure of which is shown in Fig. 3. The simulation model contains: a program for the movement of the target relative to the launch point of the aircraft in the plane of elevation and azimuth, the algorithm for program inference, the algorithm for the operation of the compensator for the dynamic guidance error.

The program output algorithm is a smoke bypass program that provides a quick capture of the aircraft for tracking by an optoelectronic system, depending on the direction of the wind speed vector. The dynamic pointing error compensation algorithm is launched immediately after the aircraft is captured for tracking by angular coordinates.

The calculation of the aircraft control commands is carried out both in the initial section and in the guidance section.

Signals from the outputs of corrective filters, dynamic error compensation signals, commands for bringing the aircraft to the kinematic trajectory are involved in the formation of the total aircraft control commands in the guidance section. The control commands generated in this way are transmitted to the aircraft, where they are executed by changing the position of the controls in the corresponding planes. In this case, the control commands are converted from the measuring to the executive coordinate system, taking into account the twisting angle.

The disadvantage of this MI, in addition to the above, can be attributed to the fact that the parameters and configuration of the trajectory of a short-range aircraft are determined not by a predetermined flight task, but by the need to ensure the fastest possible meeting of a short-range aircraft with a target.

The direct use of such a control system and its MI does not allow to reliably reproduce the trajectories of individual aircraft that simulate an attack on ground targets with the performance of appropriate maneuvers.

Therefore, it is not possible to use a digital simulation model of a control system for a maneuverable short-range aircraft as a simulation model of an aerial target control system based on unmanned aerial vehicles as part of a promising target complex.

The second is a simulation complex for testing the control system of an unmanned aerial vehicle [7], the structure of which is shown in Fig. four.

The simulation complex for testing the UAV control system contains: a device for simulating the lateral movement of the UAV and a device for simulating the longitudinal movement of the UAV, which are part of the UAV simulator, the simulator of the steering mechanisms, the simulator of the coordinate meter of the object of observation, the simulator of the angular velocity sensors, the simulator of the angle meters, the simulator of the linear acceleration meters , a wind gust simulator, an underlying surface simulator, a radio altimeter simulator, a device for generating control signals, a flight control unit, a device for processing test results and a test control device, which includes a control panel, a parameterizer of the object of observation and a block for generating a series of launches.

The main purpose of the modeling complex is to estimate the accuracy of the UAV control system by the magnitude of the miss (flight of the aircraft past the object of observation) with multiple assignment of initial conditions and initial data with continuous step-by-step verification of the correctness of operations.

The work of the modeling complex is built as follows.

First, in accordance with the simulation program, the complex is configured.

The type of the problem to be solved is selected, after which, in accordance with the selected task, the initial setting of the distance to the object of observation and the parameters of the relative movement of the object of observation and the UAV in the corresponding algorithms is carried out.

Further, the parameters of the object of observation are entered into the device for processing test results - the length, height and height of the radar reflection center of the object of observation, as well as the number of launches in a series of tests sufficient to obtain reliable estimates in the algorithms.

After that, the simulation mode is selected and set.

As a result of repeated repetition of the above operations in any of the operating modes, the modeling complex generates signals about the position of the aircraft in space and its relative speed, about the current range to the object of observation, as well as about the viewing angles of the object of observation, which are then fed into the device for generating control signals .

The work of the modeling complex ends when the aircraft reaches the object of observation, when the current range is equal to zero, and also if the number of launches made is equal to the number of specified launches. After that, the complex switches to the results processing mode with further display of the specified values on the screen of the corresponding indicator.

Thus, the simulation complex for testing the UAV control system primarily performs the function of assessing the quality of the UAV control system on the basis of semi-natural tests that require specialized bench equipment.

The disadvantages of the simulation complex for testing the UAV control system, from the point of view of analyzing the possibilities of simulating flights of air targets based on UAVs as part of the target complex, include the following:

excessive complexity in the verification and development of control laws implemented in the algorithms of the UAV control system;

the need to conduct half-life tests every time after making changes to the structure of the autopilot or to the flight task, which is not always economically feasible;

the need for periodic metrological verification of bench equipment, which also requires additional resource costs.

The objective of the invention is to study the possibility of implementing various control laws based on the generated flight tasks for aerial targets based on UAVs when simulating typical maneuvers of air attacks, including spatial maneuvers, as well as analyzing the processes occurring in the autopilot circuits of an aerial target, with the possibility of correcting the parameters of the air target control system to determine the possibilities for improving the reliability of simulating typical maneuvers of real aircraft.

To solve the problem of the invention, it is proposed to use as its basis the elements of the air target control system based on the UAV of the target complex shown in Fig. 5, 6, 7, 8.

As a rule, the dynamics of longitudinal movements (forward speed, pitch maneuver, climb, descent) are decoupled from the dynamics of side slips (yaws, roll movements), which made it possible to simplify the autopilot model, as well as to use the technique of sequential closing of the feedback loop.

The basic idea behind the sequential feedback loop is to close several simple feedback loops in series around an open-loop dynamic object. This avoids the need to develop a single (more complex) control system.

Thus, in general, the UAV-based air target control system consists of two autopilot circuits.

The first is an autopilot circuit for controlling the longitudinal movement of an air target based on an UAV, which uses feedback subcircuits in its composition: a subcircuit for maintaining the altitude of an air target based on an UAV using control signals in pitch with a serial closure with a subcircuit of the autopilot stabilization in pitch angle used as an inner subloop (Fig. 5), a subloop for maintaining the speed of an air target based on UAV using pitch control (Fig. 6), a subloop for stabilizing the speed of an air target based on UAV using a throttle valve (Fig. 7), which in their composition also have blocks that implement the corresponding gains, which are involved in the formation of the required level of signal values, further supplied to the circuit blocks, realizing transfer functions as for lateral dynamics, which express the relationship between the aileron deflection and the roll angle and the relationship between the roll angle and heading angle crowbar, respectively, and for longitudinal motion dynamics, which model the relationship between elevator deflection and pitch angle, pitch angle and altitude, airspeed and altitude, and throttle position and pitch angle with airspeed, respectively.

The second is the UAV-based autopilot circuit for controlling the lateral movement of an air target, which includes a sub-circuit for controlling the heading angle of an air target with a series circuit with a sub-circuit for controlling the roll of an air target (Fig. 8) and has a gain of a differential regulator for damping the roll rate for the internal circuit , gain coefficients of the proportional and integral parts of the roll angle control, gain coefficients of the proportional and integral parts of the course angle control associated with the lateral motion autopilot.

The essence of the UAV-based air target control system is illustrated by the block diagram shown in Fig. one.

The diagram shows:

1 - block of initial data;

2 - autopilot circuit for controlling the longitudinal movement of an air target;

3 - subloop for maintaining the altitude of an air target based on a UAV using control signals in pitch with a series circuit with a subloop of an autopilot stabilization in pitch angle;

4 - subloop of maintaining the speed of an air target based on the UAV using pitch control;

5 - subcircuit for stabilizing the speed of an air target based on a UAV using a throttle valve;

6 - contour of the autopilot for controlling the lateral movement of an air target based on the UAV;

7 - subcircuit for controlling the heading angle of an air target with a series circuit with a subcircuit for controlling the roll of an air target;

8 - aerial target block based on UAV;

9 - block graphic display of the flight path of an air target based on the UAV;

10 - UAV-based air target flight visualization unit;

11 - UAV-based air target flight parameters output unit. In accordance with figure 1 in the block of initial data 1 is formed by the system

coordinates in which the flight of the air target is carried out, the initial parameters of the movement of the air target, as well as the flight task for the formation of the required trajectory of the spatial movement of the air target.

The first output of block 1, at which the required value of the flight altitude of the air target is formed, is connected to the first input of circuit 2 and then goes to the first input of subcircuit 3, from the output of which the current value of the flight altitude of the air target is taken, which is fed to the first input of block 8.

The second output of block 1, on which the required value of the flight speed of an air target is formed, is connected to the second and third inputs of circuit 2 and then goes to the first input of subcircuits 4 and 5, from the outputs of which the current value of the flight speed of an air target is taken, which is fed to the second input block 8.

The third output of block 1, on which the required value of the course angle of flight of the air target is formed, is connected to the first input of circuit 6 and then goes to the first input of subcircuit 7, from the output of which the current value of the heading angle of flight of the air target is taken, which is fed to the third input of block 8 .

Block 8 is a simulation of an aerial target based on an UAV, implemented using the Simulink visual modeling package of the MATLAB matrix mathematical system, taking into account its geometric dimensions and its inherent aerodynamic coefficients.

Signals from circuits 2 and 6, having entered block 8, in accordance with the flight task loaded in block 1 of the initial data, set in motion an air target based on the UAV.

In accordance with the sampling time set in the initial data block 1, from the output 1 of the block 8 to the input 1 of the block 9, the corresponding signals are received that characterize the change in the trajectory of the air target based on the UAV, after which a program window is displayed on the user's desktop displaying the actually worked out trajectory of the air target. UAV-based target in three-dimensional space.

Simultaneously with the above operation, from output 2 of block 8 to input 1 of block 10, the corresponding signals are received that describe the behavior of the VM based on UAVs in airspace, after which a program window is displayed on the user's desktop simultaneously with the previous window, displaying the reaction of the aerodynamic scheme of an air target to based on the UAV for a flight mission displayed in three-dimensional space.

Simultaneously with the above operations, from output 3 of block 8 to input 1 of block 11, signals are received corresponding to the values of the flight parameters of an aerial target based on the UAV, after which a program window is displayed on the user's desktop simultaneously with the previous windows, with a graphical display of changes in the corresponding parameters over time.

The invention in the form of a simulation model of an air target control system based on a UAV from the target complex was developed using the Simulink visual modeling package of the MATLAB matrix mathematical system and is shown in Fig. 2.

The essence of the invention lies in the fact that, unlike the known models, in order to fulfill the task of the invention, a number of mathematical dependencies are formed on the input elements of the simulation model, which determine the required parameters of the movement of an air target based on the UAV in space (hereinafter referred to as the flight task).

The flight task is determined in advance, taking into account the required values of overloads, accelerations and the selected trajectory of the air target based on the UAV.

To do this, in contrast to the known methods [8], it is proposed to consider the required movement of an air target based on a UAV in a rectangular coordinate system OXYZ, the origin of which is located at the point of standing of a ground control station for air targets, and use a system consisting of the following equations:

V _BM =a _V +b _V ⋅t - the law of change in the speed of an air target, where:

a _V - coefficient that determines the initial value of the speed of the air target, which has the dimension - m / s;

b _V - coefficient that determines with what acceleration the air target will fly, which has the dimension - m / s ² ;

t - current time of air target flight simulation.

θ _ВМ =a _θ +b _θ ⋅t+c _θ ⋅t ² +d _θ ⋅sin(m _θ ⋅t) - the law of change in the angle of inclination of the air target velocity vector relative to the direction parallel to the X axis for the vertical control plane (pitch angle), where:

a _θ - coefficient that determines the initial value of the pitch angle in radians, at which the air target begins to maneuver in the vertical plane;

b _θ is the coefficient that determines the value of the rate of change of the angle θ of the _BM when the target performs a maneuver in the vertical plane, which has the dimension - 1/sec;

c _θ is the coefficient that determines the value of the acceleration of the change in the angle θ of the _VM when the target performs a maneuver in the vertical plane, which has the dimension - 1/sec ² ;

d _θ is the coefficient that determines the value of the amplitude of the angle θ of the _VM in radians when modeling a harmonic-type maneuver;

m _θ is the coefficient that determines the frequency value of the harmonic-type maneuver performed by the air target in the vertical plane, which has the dimension - 1/sec.

Ψ _ВМ =a _Ψ +b _Ψ ⋅t+c _Ψ ⋅t ² +d _Ψ ⋅sin(m _Ψ ⋅t) - the law of change of the inclination angle of the air target velocity vector relative to the direction parallel to the X axis for the horizontal control plane (heading angle), where:

a _Ψ - coefficient that determines the initial value of the heading angle in radians, at which the air target begins to maneuver in the horizontal plane;

b _Ψ - coefficient that determines the value of the rate of change of the angle Ψ _VM when the target maneuvers in the horizontal plane, which has the dimension - 1/sec;

c _Ψ is the coefficient that determines the value of the acceleration of the angle change Ψ _VM when the target performs a maneuver in the horizontal plane, which has the dimension - 1/sec ² ;

d _Ψ is the coefficient that determines the value of the amplitude of the angle Ψ of the _VM in radians when modeling a harmonic-type maneuver;

m _Ψ is the coefficient that determines the frequency value of the harmonic-type maneuver performed by the air target in the horizontal plane, which has the dimension - 1/sec.

The coefficients a _θ,Ψ , b _θ,Ψ , с _θ,Ψ , are used to simulate the movement of the VM along the arc of a parabola, in this case the coefficient d _θ,Ψ is taken equal to 0.

When changing the values of the coefficients b _{θ, Ψ} , with _{θ, Ψ} as a new value and _{θ, Ψ} , the current value of the angle θ _BM (Ψ _BM ) is taken at a given time t.

If it is necessary to simulate the movement of the target according to the harmonic law, the values of the coefficients b _{θ, Ψ} , with _{θ, Ψ} are taken equal to zero, the value of the coefficient a _{θ, Ψ} , corresponds to the current θ _VM (Ψ _VM ) at the moment of the start of the harmonic type maneuver.

- коэффициент, определяющий значение амплитуды изменения угла тангажа и курсового угла воздушной мишени в радианах при моделировании маневра гармонического типа, где:

- coefficient that determines the value of the amplitude of the change in the pitch angle and heading angle of the air target in radians when simulating a harmonic-type maneuver, where:

± - the sign is chosen depending on the required direction of movement of the air target at the moment of the beginning of the maneuver;

g=9.8 m/s ² - free fall acceleration;

N _{VMV, VMG} - coefficient that determines the value of the overload, which characterizes the intensity of the maneuver both in the vertical and horizontal planes, which is a dimensionless quantity;

- закон изменения угловой скорости угла тангажа воздушной мишени;

- the law of change of the angular velocity of the pitch angle of the air target;

- закон изменения угловой скорости курса воздушной мишени;

- the law of change of the angular velocity of the course of the air target;

- законы изменения составляющих вектора скорости воздушной мишени по соответствующим осям прямоугольной системы координат OXYZ, которые получены в результате преобразования сферической системы координат в прямоугольную, при этом составляющие V_X, V_Y, V_Z отличаются друг от друга соответствующими тригонометрическими функциями углов θ_ВМ, Ψ_ВМ.

- the laws of change of the components of the velocity vector of an air target along the corresponding axes of the rectangular coordinate system OXYZ, which are obtained as a result of the transformation of the spherical coordinate system into a rectangular one, while the components V _X , V _Y , V _Z differ from each other by the corresponding trigonometric functions of the angles θ _ВМ , Ψ _VM .

- законы изменения текущих координат воздушной мишени;

- laws of change of the current coordinates of an air target;

- закон изменения текущего угла места воздушной мишени;

- the law of change of the current elevation angle of the air target;

- закон изменения текущего азимута воздушной мишени.

- the law of change of the current azimuth of the air target.

Using the proposed dependences, it is possible to form various flight tasks for an air target based on the UAV, which in turn will allow it to perform various kinds of maneuvers, including spatial ones (Fig. 9, 10, 11).

The above mathematical model of the flight task, as well as the operator scheme of the UAV-based air target autopilot, are the basic structural elements of the simulation model of the air target control system based on the UAV from the target complex.

The capabilities of the MATLAB system make it possible to visualize the movement of an air target glider, which ultimately makes it possible to study the dynamics of the flight of an air target based on a UAV (Fig. 12).

In addition, knowing the geometrical dimensions of an aerial target and the aerodynamic coefficients of its airframe, the simulation model of the UAV-based air target control system makes it possible to simulate the flight of almost any UAV-based air target by making appropriate changes to the structural blocks of the autopilot contours and the block of graphic rendering of the air target airframe in the MATLAB system.

Additionally, the simulation model of the air target control system based on the UAV, due to the introduction of blocks for displaying the trajectories of the air target in each of the planes into its structure, allows for analysis and qualitative assessment of the accuracy of the air target autopilot based on the UAV based on the results of comparing the graphs of the trajectories of the required movement and an aerial target actually practiced by the autopilot (Fig. 13, 14).

Figures 9-14 are obtained by using the above mathematical dependencies of the flight task when modeling in the Matlab programming environment and allow us to evaluate only the final result of controlling an aerial target in the form of its flight trajectory relative to the ground control station. This modeling environment does not provide a graphical display of the current angles and projections of vectors in the considered coordinate system.

Thus, the developed simulation model of an air target control system based on UAVs allows us to conduct research on the possibility of implementing various control laws based on the generated flight tasks for air targets based on UAVs when simulating typical maneuvers of air attack weapons, including spatial maneuvers, and also to carry out analysis of the processes occurring in the autopilot circuits of an air target, with the possibility of correcting the parameters of the air target control system to determine the possibilities of increasing the reliability of simulating typical maneuvers of real aircraft without conducting natural and semi-natural experiments.

SOURCES OF INFORMATION

1. Verba B.C., Tatarsky B.G. Principles of construction and features of the use of complexes with UAVs. M.: Radiotehnika, 2016. 505 p.

2. Moiseev B.C. Group use of unmanned aerial vehicles. - Kazan: Publishing Center "School", 2017. 572 p. (Series "Modern Applied Mathematics and Informatics").

3. Randal W. Beard, Timothy W. McLain. Small unmanned aerial vehicles: theory and practice. Translation from English. - Moscow: WORLD-radioelectronics, Technosphere. 2015. 312 p.

4. Inventions to the patent RU 2 189 625 C1. "Unmanned aerial vehicle control system".

5. Invention to the patent RU 155 323 U1. "Unmanned aerial vehicle control system".

6. Mathematical morphology. Electronic Mathematical and Biomedical Journal - V. 10 Issue. 2. - 2011. UDC 623.451 Spatial simulation model of the SAM TV guidance loop for the study of shooting in motion. Zhelnin A.A.

7. Description of the utility model to the patent RU 103 215 U1. "Modeling complex for testing the control system of an unmanned aerial vehicle".

8. Romanova I.K. Aircraft flight paths. Tutorial. M.: Publishing house of MSTU im. N.E. Bauman, 2017.

Claims (1)

A simulation model of an aerial target control system based on an unmanned aerial vehicle from the target complex, including an operator circuit of an aerial target autopilot based on a UAV, at the input of the elements of which a number of mathematical dependencies are formed that determine the required parameters of the movement of an aerial target based on the UAV in space, which differs from those known that the autopilot circuit for controlling the lateral movement of an aerial target based on the UAV includes a sub-circuit for controlling the heading angle of an air target with a series circuit with a sub-circuit for controlling the roll of an air target and has a gain of a differential regulator for damping the roll rate for the inner circuit, gains of a proportional and integral parts of the roll angle control, the gains of the proportional and integral parts of the course angle control associated with the lateral motion autopilot, and the autopilot circuit to control the longitudinal movement of an air target based on the UAV, it uses feedback subloops in its composition: the subloop of maintaining the altitude of the air target based on the UAV using control signals in pitch with a series circuit with the subloop of the autopilot stabilization in pitch angle used as an internal subloop, the subloop maintaining the speed of an air target based on the UAV using pitch control, the subcircuit for stabilizing the speed of the air target based on the UAV using a throttle, which also have blocks in their composition that implement the appropriate gain factors that are involved in the formation of the required level of signal values that are subsequently received on blocks of contours that implement transfer functions both for lateral dynamics, which express the relationship between aileron deflection and bank angle and the relationship between bank angle and heading angle, respectively, and for the dynamics of longitudinal movements, which are m modeling the relationship between elevator deflection and pitch angle, pitch angle and altitude, airspeed and altitude, as well as throttle position and pitch angle with airspeed, respectively, with the possibility of simulating a controlled flight of an aerial target based on a UAV in accordance with a given flight task.

Images